Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, motivated by the recent results on control of nonlinear systems with input uncertainties and converse Lyapunov results with respect to an invariant set, we address the robust adaptive control issue in the presence of uncertainties including input unmodeled nonlinear dynamics. Nonlinear damping terms are introduced via backstepping to counteract the uncertainties and observer design is also employed to cancel the affects of the nonlinear unmodeled dynamics. To this end, nonlinear systems transformable to the Extended Strict Feedback Form with Input Uncertainties are considered. A robust adaptive controller is designed to achieve semiglobal stability with respect to an invariant set in the presence of uncertainties utilizing partial state feedback. The results are also extended to a class of decentralized systems.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages3025-3030
Number of pages6
Volume3
StatePublished - 2000
Event39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia
Duration: Dec 12 2000Dec 15 2000

Other

Other39th IEEE Confernce on Decision and Control
CountryAustralia
CitySysdney, NSW
Period12/12/0012/15/00

Fingerprint

Uncertain systems
Stabilization
Nonlinear systems
Backstepping
State feedback
Damping
Uncertainty
Feedback
Controllers

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Wang, Z., & Khorrami, F. (2000). Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics. In Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 3025-3030)

Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics. / Wang, Z.; Khorrami, Farshad.

Proceedings of the IEEE Conference on Decision and Control. Vol. 3 2000. p. 3025-3030.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wang, Z & Khorrami, F 2000, Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics. in Proceedings of the IEEE Conference on Decision and Control. vol. 3, pp. 3025-3030, 39th IEEE Confernce on Decision and Control, Sysdney, NSW, Australia, 12/12/00.
Wang Z, Khorrami F. Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics. In Proceedings of the IEEE Conference on Decision and Control. Vol. 3. 2000. p. 3025-3030
Wang, Z. ; Khorrami, Farshad. / Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics. Proceedings of the IEEE Conference on Decision and Control. Vol. 3 2000. pp. 3025-3030
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